diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h
index 839845d5aff73c1762691e247ba40bca280d7eb3..6bb56b5285c98ab905c2a6db408d1c6033f39aff 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h
@@ -260,34 +260,78 @@ namespace armarx
// //////////////////////////////////////////////////////////////////////////////////////// //
protected:
//ManagedIceObject life cycle
- /// @see \ref ManagedIceObject::onInitComponent
+ /**
+ * @brief \note This function is protected with \ref getGuard()
+ * @see \ref ManagedIceObject::onInitComponent
+ */
virtual void onInitComponent() final;
- /// @see \ref ManagedIceObject::onConnectComponent
+ /**
+ * @brief \warning This function is not protected with \ref getGuard()
+ * @see \ref ManagedIceObject::onConnectComponent
+ */
virtual void onConnectComponent() final;
- /// @see \ref ManagedIceObject::onDisconnectComponent
+ /**
+ * @brief \warning This function is not protected with \ref getGuard()
+ * @see \ref ManagedIceObject::onDisconnectComponent
+ */
virtual void onDisconnectComponent() final;
- /// @see \ref ManagedIceObject::onExitComponent
+ /**
+ * @brief \note This function is protected with \ref getGuard()
+ * @see \ref ManagedIceObject::onExitComponent
+ */
virtual void onExitComponent() final;
//ManagedIceObject life cycle module hooks
- /// @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called before \ref onInitRobotUnit was called)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called before \ref onInitRobotUnit was called)
+ * \note This function is protected with \ref getGuard()
+ * @see onInitComponent
+ */
void _preOnInitRobotUnit(){}
- /// @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called after \ref onInitRobotUnit was called)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called after \ref onInitRobotUnit was called)
+ * \note This function is protected with \ref getGuard()
+ * @see onInitComponent
+ */
void _postOnInitRobotUnit(){}
- /// @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called before \ref onConnectRobotUnit was called)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref onConnectComponent (called before \ref onConnectRobotUnit was called)
+ * \warning This function is not protected with \ref getGuard()
+ * @see onConnectComponent
+ */
void _preOnConnectRobotUnit(){}
- /// @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called after \ref onConnectRobotUnit was called)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref onConnectComponent (called after \ref onConnectRobotUnit was called)
+ * \warning This function is not protected with \ref getGuard()
+ * @see onConnectComponent
+ */
void _postOnConnectRobotUnit(){}
- /// @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called before \ref onDisconnectRobotUnit was called)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref onDisconnectComponent (called before \ref onDisconnectRobotUnit was called)
+ * \warning This function is not protected with \ref getGuard()
+ * @see onDisconnectComponent
+ */
void _preOnDisconnectRobotUnit(){}
- /// @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called after \ref onDisconnectRobotUnit was called)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref onDisconnectComponent (called after \ref onDisconnectRobotUnit was called)
+ * \warning This function is not protected with \ref getGuard()
+ * @see onDisconnectComponent
+ */
void _postOnDisconnectRobotUnit(){}
- /// @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called before \ref onExitRobotUnit was called)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref onExitComponent (called before \ref onExitRobotUnit was called)
+ * \note This function is protected with \ref getGuard()
+ * @see onExitComponent
+ */
void _preOnExitRobotUnit(){}
- /// @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called after \ref onExitRobotUnit was called)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref onExitComponent (called after \ref onExitRobotUnit was called)
+ * \note This function is protected with \ref getGuard()
+ * @see onExitComponent
+ */
void _postOnExitRobotUnit(){}
// //////////////////////////////////////////////////////////////////////////////////////// //
// ////////////////////// other ManagedIceObject / Component methods ////////////////////// //
@@ -319,41 +363,106 @@ namespace armarx
void setRobotUnitState(RobotUnitState s);
protected:
//state transitions
- /// @brief Transition \ref RobotUnitState::InitializingComponent -> \ref RobotUnitState::InitializingDevices
+ /**
+ * @brief Transition \ref RobotUnitState::InitializingComponent -> \ref RobotUnitState::InitializingDevices
+ * \note This function is protected with \ref getGuard()
+ * @see _preFinishComponentInitialization
+ * @see _postFinishComponentInitialization
+ */
virtual void finishComponentInitialization();
- /// @brief Transition \ref RobotUnitState::InitializingDevices -> \ref RobotUnitState::InitializingUnits
+ /**
+ * @brief Transition \ref RobotUnitState::InitializingDevices -> \ref RobotUnitState::InitializingUnits
+ * \note This function is protected with \ref getGuard()
+ * @see _preFinishDeviceInitialization
+ * @see _postFinishDeviceInitialization
+ */
virtual void finishDeviceInitialization();
- /// @brief Transition \ref RobotUnitState::InitializingUnits -> \ref RobotUnitState::WaitingForRTThreadInitialization
+ /**
+ * @brief Transition \ref RobotUnitState::InitializingUnits -> \ref RobotUnitState::WaitingForRTThreadInitialization
+ * \note This function is protected with \ref getGuard()
+ * @see _preFinishUnitInitialization
+ * @see _postFinishUnitInitialization
+ */
virtual void finishUnitInitialization();
- /// @brief Transition \ref RobotUnitState::InitializingControlThread -> \ref RobotUnitState::Running
+ /**
+ * @brief Transition \ref RobotUnitState::InitializingControlThread -> \ref RobotUnitState::Running
+ * \note This function is protected with \ref getGuard()
+ * @see _preFinishControlThreadInitialization
+ * @see _postFinishControlThreadInitialization
+ */
virtual void finishControlThreadInitialization();
- /// @brief Transition \ref RobotUnitState::Running -> \ref RobotUnitState::Exiting
+ /**
+ * @brief Transition \ref RobotUnitState::Running -> \ref RobotUnitState::Exiting
+ * \note This function is protected with \ref getGuard()
+ * @see _preFinishRunning
+ * @see _postFinishRunning
+ */
virtual void finishRunning();
//state transition module hooks
- /// @brief Hook for deriving RobotUnitModules called in \ref finishComponentInitialization (called before the state has changed)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref finishComponentInitialization (called before the state has changed)
+ * \note This function is protected with \ref getGuard()
+ * @see finishComponentInitialization
+ */
void _preFinishComponentInitialization(){}
- /// @brief Hook for deriving RobotUnitModules called in \ref finishComponentInitialization (called after the state has changed)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref finishComponentInitialization (called after the state has changed)
+ * \note This function is protected with \ref getGuard()
+ * @see finishComponentInitialization
+ */
void _postFinishComponentInitialization(){}
- /// @brief Hook for deriving RobotUnitModules called in \ref finishDeviceInitialization (called before the state has changed)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref finishDeviceInitialization (called before the state has changed)
+ * \note This function is protected with \ref getGuard()
+ * @see finishDeviceInitialization
+ */
void _preFinishDeviceInitialization(){}
- /// @brief Hook for deriving RobotUnitModules called in \ref finishDeviceInitialization (called after the state has changed)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref finishDeviceInitialization (called after the state has changed)
+ * \note This function is protected with \ref getGuard()
+ * @see finishDeviceInitialization
+ */
void _postFinishDeviceInitialization(){}
- /// @brief Hook for deriving RobotUnitModules called in \ref finishUnitInitialization (called before the state has changed)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref finishUnitInitialization (called before the state has changed)
+ * \note This function is protected with \ref getGuard()
+ * @see finishUnitInitialization
+ */
void _preFinishUnitInitialization(){}
- /// @brief Hook for deriving RobotUnitModules called in \ref finishUnitInitialization (called after the state has changed)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref finishUnitInitialization (called after the state has changed)
+ * \note This function is protected with \ref getGuard()
+ * @see finishUnitInitialization
+ */
void _postFinishUnitInitialization(){}
- /// @brief Hook for deriving RobotUnitModules called in \ref finishControlThreadInitialization (called before the state has changed)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref finishControlThreadInitialization (called before the state has changed)
+ * \note This function is protected with \ref getGuard()
+ * @see finishControlThreadInitialization
+ */
void _preFinishControlThreadInitialization(){}
- /// @brief Hook for deriving RobotUnitModules called in \ref finishControlThreadInitialization (called after the state has changed)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref finishControlThreadInitialization (called after the state has changed)
+ * \note This function is protected with \ref getGuard()
+ * @see finishControlThreadInitialization
+ */
void _postFinishControlThreadInitialization(){}
- /// @brief Hook for deriving RobotUnitModules called in \ref finishRunning (called before the state has changed)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref finishRunning (called before the state has changed)
+ * \note This function is protected with \ref getGuard()
+ * @see finishRunning
+ */
void _preFinishRunning(){}
- /// @brief Hook for deriving RobotUnitModules called in \ref finishRunning (called after the state has changed)
+ /**
+ * @brief Hook for deriving RobotUnitModules called in \ref finishRunning (called after the state has changed)
+ * \note This function is protected with \ref getGuard()
+ * @see finishRunning
+ */
void _postFinishRunning(){}
// //////////////////////////////////////////////////////////////////////////////////////// //
// /////////////////////////////////////// utility //////////////////////////////////////// //
@@ -439,14 +548,31 @@ namespace armarx
// //////////////////////////////////////////////////////////////////////////// //
// /////////////////////////// robot unit impl hooks ////////////////////////// //
// //////////////////////////////////////////////////////////////////////////// //
- /// @brief called in RobotUnit::onInitComponent()
- virtual void onInitRobotUnit(){}
- /// @brief called in RobotUnit::onConnectComponent()
- virtual void onConnectRobotUnit(){}
- /// @brief called in RobotUnit::onDisconnecComponent()
- virtual void onDisconnectRobotUnit(){}
- /// @brief called in RobotUnit::onExitComponent() before calling RobotUnit::finishRunning
- virtual void onExitRobotUnit(){}
+ /**
+ * @brief called in onInitComponent
+ * \note This function is protected with \ref getGuard()
+ * @see onInitComponent
+ */
+ virtual void onInitRobotUnit() {}
+ /**
+ * @brief called in onConnectComponent
+ * \warning This function is not protected with \ref getGuard()
+ * @see onConnectComponent
+ */
+ virtual void onConnectRobotUnit() {}
+ /**
+ * @brief called in onDisconnecComponent
+ * \warning This function is not protected with \ref getGuard()
+ * @see onDisconnecComponent
+ */
+ virtual void onDisconnectRobotUnit() {}
+ /**
+ * @brief called in onExitComponent before calling finishRunning
+ * \note This function is protected with \ref getGuard()
+ * @see finishRunning
+ * @see onExitComponent
+ */
+ virtual void onExitRobotUnit() {}
/// @brief Implementations have to join their \ref ControlThread in this hook. (used by RobotUnit::finishRunning())
virtual void joinControlThread() = 0;